Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- Image/env_airsim_18/astar_data/low_short/2025-01-19_02-29-27_719942/pose.jsonl +392 -0
- Image/env_airsim_18/astar_data/low_short/2025-01-19_02-30-44_242400/pose.jsonl +275 -0
- Image/env_airsim_18/astar_data/low_short/2025-01-19_02-37-20_588583/pose.jsonl +509 -0
- Image/env_airsim_18/astar_data/low_short/2025-01-19_02-41-12_230872/pose.jsonl +522 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-26-25_1365180540/pose.jsonl +288 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-27-25_521595368/pose.jsonl +314 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-39-58_1374344043/pose.jsonl +288 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-41-41_1918502651/pose.jsonl +392 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-42-29_2053999932/pose.jsonl +145 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-49-54_1633108117/pose.jsonl +223 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-51-38_498777856/pose.jsonl +210 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-54-4_1120048829/pose.jsonl +223 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-57-32_990892921/pose.jsonl +262 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_17-59-50_269441500/pose.jsonl +366 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-17-25_1529195746/pose.jsonl +288 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-25-1_707900973/pose.jsonl +223 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-29-57_1943327684/pose.jsonl +262 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-32-47_625032172/pose.jsonl +288 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-34-54_1070575321/pose.jsonl +54 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-35-30_774044599/pose.jsonl +236 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-4-43_2130794395/pose.jsonl +301 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-41-48_1896306640/pose.jsonl +223 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-42-30_446340713/pose.jsonl +210 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-42-52_915256190/pose.jsonl +106 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-47-27_1520223205/pose.jsonl +249 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-52-24_777210498/pose.jsonl +314 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-53-24_364686248/pose.jsonl +223 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_18-6-33_1987231011/pose.jsonl +80 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-13-34_410409117/pose.jsonl +301 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-22-38_1243439214/pose.jsonl +80 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-25-29_1369356620/pose.jsonl +275 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-34-9_983631233/pose.jsonl +314 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-36-14_1204275569/pose.jsonl +171 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-43-38_1707746139/pose.jsonl +301 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-48-18_378469911/pose.jsonl +392 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-51-51_629593614/pose.jsonl +223 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-55-59_1909850543/pose.jsonl +249 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-58-38_406011017/pose.jsonl +236 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-7-0_1455590964/pose.jsonl +132 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_19-7-50_1472576335/pose.jsonl +301 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-11-27_1312994984/pose.jsonl +275 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-15-40_1982945082/pose.jsonl +236 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-23-26_932862806/pose.jsonl +184 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-25-10_245798898/pose.jsonl +210 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-39-20_298501962/pose.jsonl +353 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-42-42_617909211/pose.jsonl +262 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-44-33_1204754116/pose.jsonl +457 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-5-18_746349250/pose.jsonl +223 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-50-41_223712350/pose.jsonl +288 -0
- Image/env_airsim_18/astar_data/low_short/2025-1-8_20-52-20_1287726651/pose.jsonl +366 -0
Image/env_airsim_18/astar_data/low_short/2025-01-19_02-29-27_719942/pose.jsonl
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
687.1026350988564,
|
| 6 |
+
-253.8029585521644,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
687.1026350988564,
|
| 19 |
+
-253.8029585521644,
|
| 20 |
+
-33.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
687.1026350988564,
|
| 32 |
+
-253.8029585521644,
|
| 33 |
+
-30.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
687.1026350988564,
|
| 45 |
+
-253.8029585521644,
|
| 46 |
+
-27.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
687.1026350988564,
|
| 58 |
+
-253.8029585521644,
|
| 59 |
+
-24.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go up",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
687.1026350988564,
|
| 71 |
+
-253.8029585521644,
|
| 72 |
+
-21.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
690.1026350988564,
|
| 84 |
+
-253.8029585521644,
|
| 85 |
+
-21.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
693.1026350988564,
|
| 97 |
+
-253.8029585521644,
|
| 98 |
+
-21.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
696.1026350988564,
|
| 110 |
+
-253.8029585521644,
|
| 111 |
+
-21.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
699.1026350988564,
|
| 123 |
+
-253.8029585521644,
|
| 124 |
+
-21.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
702.1026350988564,
|
| 136 |
+
-253.8029585521644,
|
| 137 |
+
-21.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
705.1026350988564,
|
| 149 |
+
-253.8029585521644,
|
| 150 |
+
-21.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
708.1026350988564,
|
| 162 |
+
-253.8029585521644,
|
| 163 |
+
-21.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
711.1026350988564,
|
| 175 |
+
-253.8029585521644,
|
| 176 |
+
-21.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
714.1026350988564,
|
| 188 |
+
-253.8029585521644,
|
| 189 |
+
-21.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
717.1026350988564,
|
| 201 |
+
-253.8029585521644,
|
| 202 |
+
-21.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
720.1026350988564,
|
| 214 |
+
-253.8029585521644,
|
| 215 |
+
-21.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
720.1026350988564,
|
| 227 |
+
-253.8029585521644,
|
| 228 |
+
-21.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
722.7007113102097,
|
| 240 |
+
-255.3029585521644,
|
| 241 |
+
-21.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
725.2987875215631,
|
| 253 |
+
-256.8029585521644,
|
| 254 |
+
-21.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
727.8968637329165,
|
| 266 |
+
-258.3029585521644,
|
| 267 |
+
-21.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
730.4949399442698,
|
| 279 |
+
-259.8029585521644,
|
| 280 |
+
-21.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
733.0930161556232,
|
| 292 |
+
-261.3029585521644,
|
| 293 |
+
-21.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
735.6910923669766,
|
| 305 |
+
-262.8029585521644,
|
| 306 |
+
-21.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go down",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
735.6910923669766,
|
| 318 |
+
-262.8029585521644,
|
| 319 |
+
-24.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go down",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
735.6910923669766,
|
| 331 |
+
-262.8029585521644,
|
| 332 |
+
-27.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "go down",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
735.6910923669766,
|
| 344 |
+
-262.8029585521644,
|
| 345 |
+
-30.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "go down",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
735.6910923669766,
|
| 357 |
+
-262.8029585521644,
|
| 358 |
+
-33.25378652273585
|
| 359 |
+
],
|
| 360 |
+
"type": "go down",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
735.6910923669766,
|
| 370 |
+
-262.8029585521644,
|
| 371 |
+
-36.25378652273585
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": -0.5235987755982894
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"aim_landmark": {
|
| 380 |
+
"color": "test",
|
| 381 |
+
"feature": "test",
|
| 382 |
+
"position": [
|
| 383 |
+
756.0,
|
| 384 |
+
-268.0,
|
| 385 |
+
-26.6135
|
| 386 |
+
],
|
| 387 |
+
"shape": "test",
|
| 388 |
+
"dir": "center",
|
| 389 |
+
"size": "test",
|
| 390 |
+
"type": "building"
|
| 391 |
+
}
|
| 392 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-01-19_02-30-44_242400/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1761.863294240616,
|
| 6 |
+
564.3840245204365,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1763.363294240616,
|
| 19 |
+
561.7859483090831,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1764.863294240616,
|
| 32 |
+
559.1878720977297,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1766.363294240616,
|
| 45 |
+
556.5897958863764,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1766.363294240616,
|
| 58 |
+
556.5897958863764,
|
| 59 |
+
-33.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1767.863294240616,
|
| 71 |
+
553.991719675023,
|
| 72 |
+
-33.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1769.363294240616,
|
| 84 |
+
551.3936434636696,
|
| 85 |
+
-33.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1770.863294240616,
|
| 97 |
+
548.7955672523162,
|
| 98 |
+
-33.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1772.363294240616,
|
| 110 |
+
546.1974910409629,
|
| 111 |
+
-33.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1773.863294240616,
|
| 123 |
+
543.5994148296095,
|
| 124 |
+
-33.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1775.363294240616,
|
| 136 |
+
541.0013386182561,
|
| 137 |
+
-33.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1776.863294240616,
|
| 149 |
+
538.4032624069027,
|
| 150 |
+
-33.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1778.363294240616,
|
| 162 |
+
535.8051861955494,
|
| 163 |
+
-33.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1779.863294240616,
|
| 175 |
+
533.207109984196,
|
| 176 |
+
-33.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1781.363294240616,
|
| 188 |
+
530.6090337728426,
|
| 189 |
+
-33.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1782.863294240616,
|
| 201 |
+
528.0109575614892,
|
| 202 |
+
-33.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1782.863294240616,
|
| 214 |
+
528.0109575614892,
|
| 215 |
+
-33.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755983084
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1785.4613704519693,
|
| 227 |
+
526.5109575614892,
|
| 228 |
+
-33.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1788.0594466633227,
|
| 240 |
+
525.0109575614892,
|
| 241 |
+
-33.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go down",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1788.0594466633227,
|
| 253 |
+
525.0109575614892,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
1816.0,
|
| 267 |
+
488.0,
|
| 268 |
+
-8.00904
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "center",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-01-19_02-37-20_588583/pose.jsonl
ADDED
|
@@ -0,0 +1,509 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
678.0061052385364,
|
| 6 |
+
841.8942521567866,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
678.0061052385364,
|
| 19 |
+
841.8942521567866,
|
| 20 |
+
-33.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
678.0061052385364,
|
| 32 |
+
841.8942521567866,
|
| 33 |
+
-30.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
678.0061052385364,
|
| 45 |
+
841.8942521567866,
|
| 46 |
+
-27.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
678.0061052385364,
|
| 58 |
+
841.8942521567866,
|
| 59 |
+
-24.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
678.0061052385364,
|
| 71 |
+
841.8942521567866,
|
| 72 |
+
-24.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
680.6041814498897,
|
| 84 |
+
840.3942521567866,
|
| 85 |
+
-24.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755983084
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
683.202257661243,
|
| 97 |
+
838.8942521567866,
|
| 98 |
+
-24.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
685.8003338725964,
|
| 110 |
+
837.3942521567866,
|
| 111 |
+
-24.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
688.3984100839498,
|
| 123 |
+
835.8942521567866,
|
| 124 |
+
-24.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
690.9964862953032,
|
| 136 |
+
834.3942521567866,
|
| 137 |
+
-24.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
693.5945625066565,
|
| 149 |
+
832.8942521567866,
|
| 150 |
+
-24.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
696.1926387180099,
|
| 162 |
+
831.3942521567866,
|
| 163 |
+
-24.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
698.7907149293633,
|
| 175 |
+
829.8942521567866,
|
| 176 |
+
-24.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
701.3887911407166,
|
| 188 |
+
828.3942521567866,
|
| 189 |
+
-24.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
701.3887911407166,
|
| 201 |
+
828.3942521567866,
|
| 202 |
+
-24.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 9.43689570931383e-15
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
704.3887911407166,
|
| 214 |
+
828.3942521567866,
|
| 215 |
+
-24.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
707.3887911407166,
|
| 227 |
+
828.3942521567866,
|
| 228 |
+
-24.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.0
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
710.3887911407166,
|
| 240 |
+
828.3942521567866,
|
| 241 |
+
-24.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.0
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
713.3887911407166,
|
| 253 |
+
828.3942521567866,
|
| 254 |
+
-24.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "turn right",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 0.0
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
713.3887911407166,
|
| 266 |
+
828.3942521567866,
|
| 267 |
+
-24.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "turn right",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": -0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
713.3887911407166,
|
| 279 |
+
828.3942521567866,
|
| 280 |
+
-24.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511965976
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
714.8887911407166,
|
| 292 |
+
825.7961759454333,
|
| 293 |
+
-24.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.0471975511965883
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
716.3887911407166,
|
| 305 |
+
823.19809973408,
|
| 306 |
+
-24.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.0471975511966072
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
717.8887911407166,
|
| 318 |
+
820.6000235227266,
|
| 319 |
+
-24.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511966072
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
719.3887911407166,
|
| 331 |
+
818.0019473113732,
|
| 332 |
+
-24.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511966072
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
720.8887911407166,
|
| 344 |
+
815.4038711000198,
|
| 345 |
+
-24.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.0471975511966072
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
722.3887911407166,
|
| 357 |
+
812.8057948886665,
|
| 358 |
+
-24.25378652273585
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -1.0471975511966072
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
723.8887911407166,
|
| 370 |
+
810.2077186773131,
|
| 371 |
+
-24.25378652273585
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -1.0471975511966072
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
725.3887911407166,
|
| 383 |
+
807.6096424659597,
|
| 384 |
+
-24.25378652273585
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -1.0471975511966072
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
726.8887911407166,
|
| 396 |
+
805.0115662546064,
|
| 397 |
+
-24.25378652273585
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -1.0471975511966072
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
728.3887911407166,
|
| 409 |
+
802.413490043253,
|
| 410 |
+
-24.25378652273585
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -1.0471975511966072
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
729.8887911407166,
|
| 422 |
+
799.8154138318996,
|
| 423 |
+
-24.25378652273585
|
| 424 |
+
],
|
| 425 |
+
"type": "go down",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -1.0471975511966072
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
729.8887911407166,
|
| 435 |
+
799.8154138318996,
|
| 436 |
+
-27.25378652273585
|
| 437 |
+
],
|
| 438 |
+
"type": "go down",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": -1.0471975511966072
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
729.8887911407166,
|
| 448 |
+
799.8154138318996,
|
| 449 |
+
-30.25378652273585
|
| 450 |
+
],
|
| 451 |
+
"type": "go down",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": -1.0471975511966072
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
729.8887911407166,
|
| 461 |
+
799.8154138318996,
|
| 462 |
+
-33.25378652273585
|
| 463 |
+
],
|
| 464 |
+
"type": "go down",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": -1.0471975511966072
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
729.8887911407166,
|
| 474 |
+
799.8154138318996,
|
| 475 |
+
-36.25378652273585
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": -1.0471975511966072
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
731.3887911407166,
|
| 487 |
+
797.2173376205462,
|
| 488 |
+
-36.25378652273585
|
| 489 |
+
],
|
| 490 |
+
"type": "stop",
|
| 491 |
+
"value": 0,
|
| 492 |
+
"yaw": -1.0471975511966072
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"aim_landmark": {
|
| 497 |
+
"color": "test",
|
| 498 |
+
"feature": "test",
|
| 499 |
+
"position": [
|
| 500 |
+
752.0,
|
| 501 |
+
780.0,
|
| 502 |
+
-30.1345
|
| 503 |
+
],
|
| 504 |
+
"shape": "test",
|
| 505 |
+
"dir": "center",
|
| 506 |
+
"size": "test",
|
| 507 |
+
"type": "building"
|
| 508 |
+
}
|
| 509 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-01-19_02-41-12_230872/pose.jsonl
ADDED
|
@@ -0,0 +1,522 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
938.9649873397642,
|
| 6 |
+
62.45267830703653,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
938.9649873397642,
|
| 19 |
+
62.45267830703653,
|
| 20 |
+
-33.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
938.9649873397642,
|
| 32 |
+
62.45267830703653,
|
| 33 |
+
-30.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
938.9649873397642,
|
| 45 |
+
62.45267830703653,
|
| 46 |
+
-27.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
938.9649873397642,
|
| 58 |
+
62.45267830703653,
|
| 59 |
+
-24.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go up",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
938.9649873397642,
|
| 71 |
+
62.45267830703653,
|
| 72 |
+
-21.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "turn right",
|
| 75 |
+
"value": 30,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
938.9649873397642,
|
| 84 |
+
62.45267830703653,
|
| 85 |
+
-21.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "turn right",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": -0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
938.9649873397642,
|
| 97 |
+
62.45267830703653,
|
| 98 |
+
-21.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": -1.0471975511965976
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
938.9649873397642,
|
| 110 |
+
62.45267830703653,
|
| 111 |
+
-21.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
938.9649873397642,
|
| 123 |
+
62.45267830703653,
|
| 124 |
+
-21.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "turn right",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
938.9649873397642,
|
| 136 |
+
62.45267830703653,
|
| 137 |
+
-21.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.617993877991494
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
936.366911128411,
|
| 149 |
+
60.95267830703653,
|
| 150 |
+
-21.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.617993877991485
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
933.7688349170576,
|
| 162 |
+
59.45267830703653,
|
| 163 |
+
-21.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
931.1707587057042,
|
| 175 |
+
57.95267830703653,
|
| 176 |
+
-21.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
928.5726824943508,
|
| 188 |
+
56.45267830703653,
|
| 189 |
+
-21.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
925.9746062829975,
|
| 201 |
+
54.95267830703653,
|
| 202 |
+
-21.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
923.3765300716441,
|
| 214 |
+
53.45267830703653,
|
| 215 |
+
-21.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
920.7784538602907,
|
| 227 |
+
51.95267830703653,
|
| 228 |
+
-21.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
918.1803776489373,
|
| 240 |
+
50.45267830703653,
|
| 241 |
+
-21.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
915.582301437584,
|
| 253 |
+
48.95267830703653,
|
| 254 |
+
-21.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
912.9842252262306,
|
| 266 |
+
47.45267830703653,
|
| 267 |
+
-21.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
910.3861490148772,
|
| 279 |
+
45.95267830703653,
|
| 280 |
+
-21.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "turn left",
|
| 283 |
+
"value": 30,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
910.3861490148772,
|
| 292 |
+
45.95267830703653,
|
| 293 |
+
-21.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.094395102393205
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
908.8861490148772,
|
| 305 |
+
43.35460209568321,
|
| 306 |
+
-21.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.0943951023931953
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
907.3861490148772,
|
| 318 |
+
40.756525884329896,
|
| 319 |
+
-21.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.0943951023931953
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
905.8861490148772,
|
| 331 |
+
38.15844967297658,
|
| 332 |
+
-21.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.0943951023931953
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
904.3861490148772,
|
| 344 |
+
35.560373461623264,
|
| 345 |
+
-21.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.0943951023931953
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
902.8861490148772,
|
| 357 |
+
32.96229725026995,
|
| 358 |
+
-21.25378652273585
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.0943951023931953
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
901.3861490148772,
|
| 370 |
+
30.364221038916632,
|
| 371 |
+
-21.25378652273585
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -2.0943951023931953
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
899.8861490148772,
|
| 383 |
+
27.766144827563316,
|
| 384 |
+
-21.25378652273585
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -2.0943951023931953
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
898.3861490148772,
|
| 396 |
+
25.16806861621,
|
| 397 |
+
-21.25378652273585
|
| 398 |
+
],
|
| 399 |
+
"type": "go down",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -2.0943951023931953
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
898.3861490148772,
|
| 409 |
+
25.16806861621,
|
| 410 |
+
-24.25378652273585
|
| 411 |
+
],
|
| 412 |
+
"type": "go down",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -2.0943951023931953
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
898.3861490148772,
|
| 422 |
+
25.16806861621,
|
| 423 |
+
-27.25378652273585
|
| 424 |
+
],
|
| 425 |
+
"type": "turn right",
|
| 426 |
+
"value": 30,
|
| 427 |
+
"yaw": -2.0943951023931953
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
898.3861490148772,
|
| 435 |
+
25.16806861621,
|
| 436 |
+
-27.25378652273585
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": -2.617993877991494
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
895.7880728035238,
|
| 448 |
+
23.66806861621,
|
| 449 |
+
-27.25378652273585
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": -2.6179938779915037
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
893.1899965921705,
|
| 461 |
+
22.16806861621,
|
| 462 |
+
-27.25378652273585
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": -2.6179938779915037
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
890.5919203808171,
|
| 474 |
+
20.66806861621,
|
| 475 |
+
-27.25378652273585
|
| 476 |
+
],
|
| 477 |
+
"type": "go down",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": -2.6179938779915037
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
890.5919203808171,
|
| 487 |
+
20.66806861621,
|
| 488 |
+
-30.25378652273585
|
| 489 |
+
],
|
| 490 |
+
"type": "go down",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": -2.6179938779915037
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
890.5919203808171,
|
| 500 |
+
20.66806861621,
|
| 501 |
+
-33.25378652273585
|
| 502 |
+
],
|
| 503 |
+
"type": "stop",
|
| 504 |
+
"value": 0,
|
| 505 |
+
"yaw": -2.6179938779915037
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"aim_landmark": {
|
| 510 |
+
"color": "test",
|
| 511 |
+
"feature": "test",
|
| 512 |
+
"position": [
|
| 513 |
+
872.0,
|
| 514 |
+
4.0,
|
| 515 |
+
-27.3656
|
| 516 |
+
],
|
| 517 |
+
"shape": "test",
|
| 518 |
+
"dir": "center",
|
| 519 |
+
"size": "test",
|
| 520 |
+
"type": "building"
|
| 521 |
+
}
|
| 522 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-26-25_1365180540/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1206.9731919463861,
|
| 6 |
+
734.9488547897489,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1206.9731919463861,
|
| 19 |
+
737.9488547897489,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1206.9731919463861,
|
| 32 |
+
740.9488547897489,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1206.9731919463861,
|
| 45 |
+
743.9488547897489,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1206.9731919463861,
|
| 58 |
+
746.9488547897489,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1206.9731919463861,
|
| 71 |
+
749.9488547897489,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1206.9731919463861,
|
| 84 |
+
752.9488547897489,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1206.9731919463861,
|
| 97 |
+
755.9488547897489,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1206.9731919463861,
|
| 110 |
+
758.9488547897489,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1206.9731919463861,
|
| 123 |
+
761.9488547897489,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1206.9731919463861,
|
| 136 |
+
764.9488547897489,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1206.9731919463861,
|
| 149 |
+
767.9488547897489,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1206.9731919463861,
|
| 162 |
+
770.9488547897489,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1206.9731919463861,
|
| 175 |
+
773.9488547897489,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1206.9731919463861,
|
| 188 |
+
776.9488547897489,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1206.9731919463861,
|
| 201 |
+
779.9488547897489,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1206.9731919463861,
|
| 214 |
+
782.9488547897489,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1206.9731919463861,
|
| 227 |
+
785.9488547897489,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1206.9731919463861,
|
| 240 |
+
788.9488547897489,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1206.9731919463861,
|
| 253 |
+
791.9488547897489,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1206.9731919463861,
|
| 266 |
+
794.9488547897489,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
1208.0,
|
| 280 |
+
820.0,
|
| 281 |
+
17.114
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "center",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-27-25_521595368/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1029.588822234614,
|
| 6 |
+
1298.0774123350627,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1026.9907460232607,
|
| 19 |
+
1296.5774123350627,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1024.3926698119074,
|
| 32 |
+
1295.0774123350627,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1021.794593600554,
|
| 45 |
+
1293.5774123350627,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1019.1965173892006,
|
| 58 |
+
1292.0774123350627,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1016.5984411778472,
|
| 71 |
+
1290.5774123350627,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1014.0003649664939,
|
| 84 |
+
1289.0774123350627,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1011.4022887551405,
|
| 97 |
+
1287.5774123350627,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1008.8042125437871,
|
| 110 |
+
1286.0774123350627,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1006.2061363324337,
|
| 123 |
+
1284.5774123350627,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1003.6080601210804,
|
| 136 |
+
1283.0774123350627,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1001.009983909727,
|
| 149 |
+
1281.5774123350627,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
998.4119076983736,
|
| 162 |
+
1280.0774123350627,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
995.8138314870203,
|
| 175 |
+
1278.5774123350627,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
993.2157552756669,
|
| 188 |
+
1277.0774123350627,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
990.6176790643135,
|
| 201 |
+
1275.5774123350627,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
988.0196028529601,
|
| 214 |
+
1274.0774123350627,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
985.4215266416068,
|
| 227 |
+
1272.5774123350627,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
982.8234504302534,
|
| 240 |
+
1271.0774123350627,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
980.2253742189,
|
| 253 |
+
1269.5774123350627,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "turn left",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
980.2253742189,
|
| 266 |
+
1269.5774123350627,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.094395102393205
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
978.7253742189,
|
| 279 |
+
1266.9793361237093,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
977.2253742189,
|
| 292 |
+
1264.381259912356,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": -2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
956.0,
|
| 306 |
+
1248.0,
|
| 307 |
+
-30.1697
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-39-58_1374344043/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
736.8972913064932,
|
| 6 |
+
1.63594363567492,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
735.3972913064932,
|
| 19 |
+
-0.962132575678396,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
733.8972913064932,
|
| 32 |
+
-3.560208787031712,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
732.3972913064932,
|
| 45 |
+
-6.158284998385028,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
730.8972913064932,
|
| 58 |
+
-8.756361209738344,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
729.3972913064932,
|
| 71 |
+
-11.35443742109166,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
727.8972913064932,
|
| 84 |
+
-13.952513632444976,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
726.3972913064932,
|
| 97 |
+
-16.550589843798292,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
724.8972913064932,
|
| 110 |
+
-19.148666055151608,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
723.3972913064932,
|
| 123 |
+
-21.746742266504924,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
721.8972913064932,
|
| 136 |
+
-24.34481847785824,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
720.3972913064932,
|
| 149 |
+
-26.942894689211556,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
720.3972913064932,
|
| 162 |
+
-26.942894689211556,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
720.3972913064932,
|
| 175 |
+
-29.942894689211556,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
720.3972913064932,
|
| 188 |
+
-32.942894689211556,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
720.3972913064932,
|
| 201 |
+
-35.942894689211556,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
720.3972913064932,
|
| 214 |
+
-38.942894689211556,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
720.3972913064932,
|
| 227 |
+
-41.942894689211556,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "turn right",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
720.3972913064932,
|
| 240 |
+
-41.942894689211556,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
718.8972913064932,
|
| 253 |
+
-44.54097090056487,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
717.3972913064932,
|
| 266 |
+
-47.13904711191819,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": -2.0943951023931953
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
708.0,
|
| 280 |
+
-68.0,
|
| 281 |
+
2.61985
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "center",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-41-41_1918502651/pose.jsonl
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1490.769783467498,
|
| 6 |
+
65.69194540924032,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1493.3678596788513,
|
| 19 |
+
64.19194540924032,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1495.9659358902047,
|
| 32 |
+
62.69194540924032,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1498.564012101558,
|
| 45 |
+
61.19194540924032,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1501.1620883129115,
|
| 58 |
+
59.69194540924032,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1503.7601645242648,
|
| 71 |
+
58.19194540924032,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1506.3582407356182,
|
| 84 |
+
56.69194540924032,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1508.9563169469716,
|
| 97 |
+
55.19194540924032,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1511.554393158325,
|
| 110 |
+
53.69194540924032,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1514.1524693696783,
|
| 123 |
+
52.19194540924032,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1516.7505455810317,
|
| 136 |
+
50.69194540924032,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1519.348621792385,
|
| 149 |
+
49.19194540924032,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1521.9466980037384,
|
| 162 |
+
47.69194540924032,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1524.5447742150918,
|
| 175 |
+
46.19194540924032,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "turn right",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1524.5447742150918,
|
| 188 |
+
46.19194540924032,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.047197551196588
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1526.0447742150918,
|
| 201 |
+
43.593869197887,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1527.5447742150918,
|
| 214 |
+
40.99579298653369,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1529.0447742150918,
|
| 227 |
+
38.39771677518037,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1530.5447742150918,
|
| 240 |
+
35.799640563827055,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1532.0447742150918,
|
| 253 |
+
33.20156435247374,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1533.5447742150918,
|
| 266 |
+
30.603488141120422,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1535.0447742150918,
|
| 279 |
+
28.005411929767106,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1536.5447742150918,
|
| 292 |
+
25.40733571841379,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.0471975511965979
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1538.0447742150918,
|
| 305 |
+
22.809259507060474,
|
| 306 |
+
-36.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.0471975511965979
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1539.5447742150918,
|
| 318 |
+
20.21118329570716,
|
| 319 |
+
-36.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511965979
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1541.0447742150918,
|
| 331 |
+
17.613107084353842,
|
| 332 |
+
-36.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "turn left",
|
| 335 |
+
"value": 30,
|
| 336 |
+
"yaw": -1.0471975511965979
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1541.0447742150918,
|
| 344 |
+
17.613107084353842,
|
| 345 |
+
-36.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -0.523598775598299
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
1543.6428504264452,
|
| 357 |
+
16.113107084353842,
|
| 358 |
+
-36.25378652273585
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
1546.2409266377986,
|
| 370 |
+
14.613107084353842,
|
| 371 |
+
-36.25378652273585
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": -0.5235987755982894
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"aim_landmark": {
|
| 380 |
+
"color": "test",
|
| 381 |
+
"feature": "test",
|
| 382 |
+
"position": [
|
| 383 |
+
1564.0,
|
| 384 |
+
0.0,
|
| 385 |
+
-29.537
|
| 386 |
+
],
|
| 387 |
+
"shape": "test",
|
| 388 |
+
"dir": "center",
|
| 389 |
+
"size": "test",
|
| 390 |
+
"type": "building"
|
| 391 |
+
}
|
| 392 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-42-29_2053999932/pose.jsonl
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
813.6209385101492,
|
| 6 |
+
858.1499433692695,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
816.2190147215026,
|
| 19 |
+
859.6499433692695,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
818.817090932856,
|
| 32 |
+
861.1499433692695,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
821.4151671442094,
|
| 45 |
+
862.6499433692695,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
824.0132433555627,
|
| 58 |
+
864.1499433692695,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
826.6113195669161,
|
| 71 |
+
865.6499433692695,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
829.2093957782695,
|
| 84 |
+
867.1499433692695,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
831.8074719896229,
|
| 97 |
+
868.6499433692695,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
831.8074719896229,
|
| 110 |
+
868.6499433692695,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -9.43689570931383e-15
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
834.8074719896229,
|
| 123 |
+
868.6499433692695,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "stop",
|
| 127 |
+
"value": 0,
|
| 128 |
+
"yaw": -9.43689570931383e-15
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"aim_landmark": {
|
| 133 |
+
"color": "test",
|
| 134 |
+
"feature": "test",
|
| 135 |
+
"position": [
|
| 136 |
+
884.0,
|
| 137 |
+
896.0,
|
| 138 |
+
-29.9978
|
| 139 |
+
],
|
| 140 |
+
"shape": "test",
|
| 141 |
+
"dir": "left",
|
| 142 |
+
"size": "test",
|
| 143 |
+
"type": "building"
|
| 144 |
+
}
|
| 145 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-49-54_1633108117/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
827.0103301263828,
|
| 6 |
+
-139.8278671159287,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
824.4122539150294,
|
| 19 |
+
-141.3278671159287,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
821.814177703676,
|
| 32 |
+
-142.8278671159287,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
819.2161014923227,
|
| 45 |
+
-144.3278671159287,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
816.6180252809693,
|
| 58 |
+
-145.8278671159287,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
814.0199490696159,
|
| 71 |
+
-147.3278671159287,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
811.4218728582625,
|
| 84 |
+
-148.8278671159287,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "turn right",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
811.4218728582625,
|
| 97 |
+
-148.8278671159287,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -3.1415926535898024
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
808.4218728582625,
|
| 110 |
+
-148.8278671159287,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
805.4218728582625,
|
| 123 |
+
-148.8278671159287,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
802.4218728582625,
|
| 136 |
+
-148.8278671159287,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
799.4218728582625,
|
| 149 |
+
-148.8278671159287,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
796.4218728582625,
|
| 162 |
+
-148.8278671159287,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
793.4218728582625,
|
| 175 |
+
-148.8278671159287,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "turn left",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
793.4218728582625,
|
| 188 |
+
-148.8278671159287,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.665191429188092
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
790.8237966469092,
|
| 201 |
+
-150.3278671159287,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": 3.665191429188092
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
740.0,
|
| 215 |
+
-168.0,
|
| 216 |
+
-29.6206
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-51-38_498777856/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1342.2812734905247,
|
| 6 |
+
486.72919627148633,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1345.2812734905247,
|
| 19 |
+
486.72919627148633,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1348.2812734905247,
|
| 32 |
+
486.72919627148633,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1351.2812734905247,
|
| 45 |
+
486.72919627148633,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1354.2812734905247,
|
| 58 |
+
486.72919627148633,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1357.2812734905247,
|
| 71 |
+
486.72919627148633,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1360.2812734905247,
|
| 84 |
+
486.72919627148633,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1363.2812734905247,
|
| 97 |
+
486.72919627148633,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1366.2812734905247,
|
| 110 |
+
486.72919627148633,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1369.2812734905247,
|
| 123 |
+
486.72919627148633,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1372.2812734905247,
|
| 136 |
+
486.72919627148633,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1375.2812734905247,
|
| 149 |
+
486.72919627148633,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1378.2812734905247,
|
| 162 |
+
486.72919627148633,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1381.2812734905247,
|
| 175 |
+
486.72919627148633,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1384.2812734905247,
|
| 188 |
+
486.72919627148633,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
1420.0,
|
| 202 |
+
484.0,
|
| 203 |
+
-10.4725
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "center",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-54-4_1120048829/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
389.2853485198361,
|
| 6 |
+
304.1460577824532,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
390.7853485198361,
|
| 19 |
+
306.74413399380654,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
392.2853485198361,
|
| 32 |
+
309.34221020515986,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
393.7853485198361,
|
| 45 |
+
311.9402864165132,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
395.2853485198361,
|
| 58 |
+
314.5383626278665,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
396.7853485198361,
|
| 71 |
+
317.1364388392198,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
398.2853485198361,
|
| 84 |
+
319.7345150505731,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
399.7853485198361,
|
| 97 |
+
322.33259126192644,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
401.2853485198361,
|
| 110 |
+
324.93066747327975,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
402.7853485198361,
|
| 123 |
+
327.52874368463307,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
404.2853485198361,
|
| 136 |
+
330.1268198959864,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
405.7853485198361,
|
| 149 |
+
332.7248961073397,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
407.2853485198361,
|
| 162 |
+
335.322972318693,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
408.7853485198361,
|
| 175 |
+
337.92104853004633,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
410.2853485198361,
|
| 188 |
+
340.51912474139965,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
411.7853485198361,
|
| 201 |
+
343.11720095275297,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
436.0,
|
| 215 |
+
384.0,
|
| 216 |
+
-0.096741
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-57-32_990892921/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1474.613571012972,
|
| 6 |
+
244.09256908826103,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1474.613571012972,
|
| 19 |
+
241.09256908826103,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1474.613571012972,
|
| 32 |
+
238.09256908826103,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1474.613571012972,
|
| 45 |
+
235.09256908826103,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1474.613571012972,
|
| 58 |
+
232.09256908826103,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1474.613571012972,
|
| 71 |
+
229.09256908826103,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1474.613571012972,
|
| 84 |
+
226.09256908826103,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1474.613571012972,
|
| 97 |
+
223.09256908826103,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1474.613571012972,
|
| 110 |
+
220.09256908826103,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1474.613571012972,
|
| 123 |
+
217.09256908826103,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1474.613571012972,
|
| 136 |
+
214.09256908826103,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1474.613571012972,
|
| 149 |
+
211.09256908826103,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1474.613571012972,
|
| 162 |
+
208.09256908826103,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1474.613571012972,
|
| 175 |
+
205.09256908826103,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "turn right",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1474.613571012972,
|
| 188 |
+
205.09256908826103,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1473.113571012972,
|
| 201 |
+
202.4944928769077,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1471.613571012972,
|
| 214 |
+
199.8964166655544,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1471.613571012972,
|
| 227 |
+
199.8964166655544,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.617993877991494
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1469.0154948016186,
|
| 240 |
+
198.3964166655544,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": -2.617993877991494
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
1464.0,
|
| 254 |
+
180.0,
|
| 255 |
+
-27.5654
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "left",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_17-59-50_269441500/pose.jsonl
ADDED
|
@@ -0,0 +1,366 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1498.08600820474,
|
| 6 |
+
-200.94893393283428,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1499.58600820474,
|
| 19 |
+
-203.5470101441876,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1501.08600820474,
|
| 32 |
+
-206.1450863555409,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1502.58600820474,
|
| 45 |
+
-208.74316256689423,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1504.08600820474,
|
| 58 |
+
-211.34123877824754,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1505.58600820474,
|
| 71 |
+
-213.93931498960086,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1507.08600820474,
|
| 84 |
+
-216.53739120095418,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1508.58600820474,
|
| 97 |
+
-219.1354674123075,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1510.08600820474,
|
| 110 |
+
-221.7335436236608,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1511.58600820474,
|
| 123 |
+
-224.33161983501412,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1513.08600820474,
|
| 136 |
+
-226.92969604636744,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "turn left",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": -1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1513.08600820474,
|
| 149 |
+
-226.92969604636744,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.523598775598299
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1515.6840844160934,
|
| 162 |
+
-228.42969604636744,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1518.2821606274467,
|
| 175 |
+
-229.92969604636744,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1520.8802368388,
|
| 188 |
+
-231.42969604636744,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1523.4783130501535,
|
| 201 |
+
-232.92969604636744,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1526.0763892615068,
|
| 214 |
+
-234.42969604636744,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1528.6744654728602,
|
| 227 |
+
-235.92969604636744,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1531.2725416842136,
|
| 240 |
+
-237.42969604636744,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1533.870617895567,
|
| 253 |
+
-238.92969604636744,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1536.4686941069203,
|
| 266 |
+
-240.42969604636744,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1539.0667703182737,
|
| 279 |
+
-241.92969604636744,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1541.664846529627,
|
| 292 |
+
-243.42969604636744,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "turn right",
|
| 296 |
+
"value": 30,
|
| 297 |
+
"yaw": -0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1541.664846529627,
|
| 305 |
+
-243.42969604636744,
|
| 306 |
+
-36.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.047197551196588
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1543.164846529627,
|
| 318 |
+
-246.02777225772076,
|
| 319 |
+
-36.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511965979
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1544.664846529627,
|
| 331 |
+
-248.62584846907407,
|
| 332 |
+
-36.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511965979
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1546.164846529627,
|
| 344 |
+
-251.2239246804274,
|
| 345 |
+
-36.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "stop",
|
| 348 |
+
"value": 0,
|
| 349 |
+
"yaw": -1.0471975511965979
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
1564.0,
|
| 358 |
+
-268.0,
|
| 359 |
+
-6.14624
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"dir": "center",
|
| 363 |
+
"size": "test",
|
| 364 |
+
"type": "building"
|
| 365 |
+
}
|
| 366 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-17-25_1529195746/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1468.8623590957013,
|
| 6 |
+
959.6542944174598,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1470.3623590957013,
|
| 19 |
+
957.0562182061065,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1471.8623590957013,
|
| 32 |
+
954.4581419947531,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1473.3623590957013,
|
| 45 |
+
951.8600657833997,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1474.8623590957013,
|
| 58 |
+
949.2619895720463,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1476.3623590957013,
|
| 71 |
+
946.663913360693,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1477.8623590957013,
|
| 84 |
+
944.0658371493396,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1479.3623590957013,
|
| 97 |
+
941.4677609379862,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1480.8623590957013,
|
| 110 |
+
938.8696847266328,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1482.3623590957013,
|
| 123 |
+
936.2716085152795,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1483.8623590957013,
|
| 136 |
+
933.6735323039261,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1485.3623590957013,
|
| 149 |
+
931.0754560925727,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1486.8623590957013,
|
| 162 |
+
928.4773798812193,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1488.3623590957013,
|
| 175 |
+
925.879303669866,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1489.8623590957013,
|
| 188 |
+
923.2812274585126,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1491.3623590957013,
|
| 201 |
+
920.6831512471592,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1492.8623590957013,
|
| 214 |
+
918.0850750358059,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1494.3623590957013,
|
| 227 |
+
915.4869988244525,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "turn left",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": -1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1494.3623590957013,
|
| 240 |
+
915.4869988244525,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755983084
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1496.9604353070547,
|
| 253 |
+
913.9869988244525,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1499.558511518408,
|
| 266 |
+
912.4869988244525,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": -0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
1516.0,
|
| 280 |
+
892.0,
|
| 281 |
+
-0.375381
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "center",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-25-1_707900973/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1754.9851645727651,
|
| 6 |
+
219.4373874332129,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1754.9851645727651,
|
| 19 |
+
222.4373874332129,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1754.9851645727651,
|
| 32 |
+
225.4373874332129,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1754.9851645727651,
|
| 45 |
+
228.4373874332129,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1754.9851645727651,
|
| 58 |
+
231.4373874332129,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1754.9851645727651,
|
| 71 |
+
234.4373874332129,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1754.9851645727651,
|
| 84 |
+
237.4373874332129,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1754.9851645727651,
|
| 97 |
+
240.4373874332129,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1754.9851645727651,
|
| 110 |
+
240.4373874332129,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1756.4851645727651,
|
| 123 |
+
243.03546364456622,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1757.9851645727651,
|
| 136 |
+
245.63353985591954,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1759.4851645727651,
|
| 149 |
+
248.23161606727285,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1760.9851645727651,
|
| 162 |
+
250.82969227862617,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1762.4851645727651,
|
| 175 |
+
253.42776848997948,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1763.9851645727651,
|
| 188 |
+
256.0258447013328,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1765.4851645727651,
|
| 201 |
+
258.6239209126861,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
1768.0,
|
| 215 |
+
284.0,
|
| 216 |
+
-1.77502
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-29-57_1943327684/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1955.8462364631844,
|
| 6 |
+
963.8605833945973,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1955.8462364631844,
|
| 19 |
+
960.8605833945973,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1955.8462364631844,
|
| 32 |
+
957.8605833945973,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1955.8462364631844,
|
| 45 |
+
954.8605833945973,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1955.8462364631844,
|
| 58 |
+
951.8605833945973,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1955.8462364631844,
|
| 71 |
+
948.8605833945973,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1955.8462364631844,
|
| 84 |
+
945.8605833945973,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1955.8462364631844,
|
| 97 |
+
942.8605833945973,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1955.8462364631844,
|
| 110 |
+
939.8605833945973,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1955.8462364631844,
|
| 123 |
+
936.8605833945973,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1955.8462364631844,
|
| 136 |
+
933.8605833945973,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1955.8462364631844,
|
| 149 |
+
930.8605833945973,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1955.8462364631844,
|
| 162 |
+
927.8605833945973,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1955.8462364631844,
|
| 175 |
+
924.8605833945973,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1955.8462364631844,
|
| 188 |
+
921.8605833945973,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1955.8462364631844,
|
| 201 |
+
918.8605833945973,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1955.8462364631844,
|
| 214 |
+
915.8605833945973,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1955.8462364631844,
|
| 227 |
+
912.8605833945973,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1955.8462364631844,
|
| 240 |
+
909.8605833945973,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
1956.0,
|
| 254 |
+
892.0,
|
| 255 |
+
-33.4368
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-32-47_625032172/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
968.9907036551871,
|
| 6 |
+
-12.835080133696799,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
967.4907036551871,
|
| 19 |
+
-10.237003922343483,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
965.9907036551871,
|
| 32 |
+
-7.638927710990167,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
964.4907036551871,
|
| 45 |
+
-5.040851499636851,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
962.9907036551871,
|
| 58 |
+
-2.442775288283535,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
961.4907036551871,
|
| 71 |
+
0.15530092306978105,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
959.9907036551871,
|
| 84 |
+
2.753377134423097,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
958.4907036551871,
|
| 97 |
+
5.351453345776413,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
956.9907036551871,
|
| 110 |
+
7.949529557129729,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
955.4907036551871,
|
| 123 |
+
10.547605768483045,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
953.9907036551871,
|
| 136 |
+
13.145681979836361,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
952.4907036551871,
|
| 149 |
+
15.743758191189677,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
950.9907036551871,
|
| 162 |
+
18.341834402542993,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
949.4907036551871,
|
| 175 |
+
20.93991061389631,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "turn left",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
949.4907036551871,
|
| 188 |
+
20.93991061389631,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 2.617993877991494
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
949.4907036551871,
|
| 201 |
+
20.93991061389631,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
946.4907036551871,
|
| 214 |
+
20.93991061389631,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
943.4907036551871,
|
| 227 |
+
20.93991061389631,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
940.4907036551871,
|
| 240 |
+
20.93991061389631,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
937.4907036551871,
|
| 253 |
+
20.93991061389631,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 3.141592653589793
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
934.4907036551871,
|
| 266 |
+
20.93991061389631,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 3.141592653589793
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
908.0,
|
| 280 |
+
44.0,
|
| 281 |
+
-34.6274
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "right",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-34-54_1070575321/pose.jsonl
ADDED
|
@@ -0,0 +1,54 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
69.65503005217214,
|
| 6 |
+
-361.7631015699583,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
67.05695384081882,
|
| 19 |
+
-360.2631015699583,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
64.4588776294655,
|
| 32 |
+
-358.7631015699583,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "stop",
|
| 36 |
+
"value": 0,
|
| 37 |
+
"yaw": 2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"aim_landmark": {
|
| 42 |
+
"color": "test",
|
| 43 |
+
"feature": "test",
|
| 44 |
+
"position": [
|
| 45 |
+
-8.0,
|
| 46 |
+
-312.0,
|
| 47 |
+
-29.9979
|
| 48 |
+
],
|
| 49 |
+
"shape": "test",
|
| 50 |
+
"dir": "center",
|
| 51 |
+
"size": "test",
|
| 52 |
+
"type": "building"
|
| 53 |
+
}
|
| 54 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-35-30_774044599/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1844.8720355537655,
|
| 6 |
+
227.2714676978972,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1843.3720355537655,
|
| 19 |
+
229.86954390925052,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1841.8720355537655,
|
| 32 |
+
232.46762012060384,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1840.3720355537655,
|
| 45 |
+
235.06569633195716,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1838.8720355537655,
|
| 58 |
+
237.66377254331047,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1837.3720355537655,
|
| 71 |
+
240.2618487546638,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1835.8720355537655,
|
| 84 |
+
242.8599249660171,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1834.3720355537655,
|
| 97 |
+
245.45800117737042,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1832.8720355537655,
|
| 110 |
+
248.05607738872374,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1831.3720355537655,
|
| 123 |
+
250.65415360007705,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "turn right",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1831.3720355537655,
|
| 136 |
+
250.65415360007705,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1831.3720355537655,
|
| 149 |
+
253.65415360007705,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1831.3720355537655,
|
| 162 |
+
256.65415360007705,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1831.3720355537655,
|
| 175 |
+
259.65415360007705,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1831.3720355537655,
|
| 188 |
+
262.65415360007705,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1831.3720355537655,
|
| 201 |
+
265.65415360007705,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1831.3720355537655,
|
| 214 |
+
268.65415360007705,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
1824.0,
|
| 228 |
+
300.0,
|
| 229 |
+
-9.52448
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-4-43_2130794395/pose.jsonl
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1308.60675060297,
|
| 6 |
+
-293.8272237327544,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1307.10675060297,
|
| 19 |
+
-291.2291475214011,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1305.60675060297,
|
| 32 |
+
-288.6310713100478,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1304.10675060297,
|
| 45 |
+
-286.03299509869447,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1302.60675060297,
|
| 58 |
+
-283.43491888734115,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1301.10675060297,
|
| 71 |
+
-280.83684267598784,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1299.60675060297,
|
| 84 |
+
-278.2387664646345,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1298.10675060297,
|
| 97 |
+
-275.6406902532812,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1296.60675060297,
|
| 110 |
+
-273.0426140419279,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1295.10675060297,
|
| 123 |
+
-270.4445378305746,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1293.60675060297,
|
| 136 |
+
-267.84646161922126,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1292.10675060297,
|
| 149 |
+
-265.24838540786794,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1290.60675060297,
|
| 162 |
+
-262.6503091965146,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1289.10675060297,
|
| 175 |
+
-260.0522329851613,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1287.60675060297,
|
| 188 |
+
-257.454156773808,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1286.10675060297,
|
| 201 |
+
-254.85608056245468,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1284.60675060297,
|
| 214 |
+
-252.25800435110136,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1283.10675060297,
|
| 227 |
+
-249.65992813974805,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "turn left",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": 2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1283.10675060297,
|
| 240 |
+
-249.65992813974805,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.617993877991494
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1280.5086743916165,
|
| 253 |
+
-248.15992813974805,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1277.9105981802632,
|
| 266 |
+
-246.65992813974805,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1275.3125219689098,
|
| 279 |
+
-245.15992813974805,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "stop",
|
| 283 |
+
"value": 0,
|
| 284 |
+
"yaw": 2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
1260.0,
|
| 293 |
+
-220.0,
|
| 294 |
+
-32.2049
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"dir": "right",
|
| 298 |
+
"size": "test",
|
| 299 |
+
"type": "building"
|
| 300 |
+
}
|
| 301 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-41-48_1896306640/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
343.48703878955524,
|
| 6 |
+
547.8914115507108,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
343.48703878955524,
|
| 19 |
+
544.8914115507108,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
343.48703878955524,
|
| 32 |
+
541.8914115507108,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
343.48703878955524,
|
| 45 |
+
538.8914115507108,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
343.48703878955524,
|
| 58 |
+
535.8914115507108,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
343.48703878955524,
|
| 71 |
+
532.8914115507108,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
343.48703878955524,
|
| 84 |
+
529.8914115507108,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
343.48703878955524,
|
| 97 |
+
526.8914115507108,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
343.48703878955524,
|
| 110 |
+
523.8914115507108,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
343.48703878955524,
|
| 123 |
+
520.8914115507108,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
343.48703878955524,
|
| 136 |
+
517.8914115507108,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
343.48703878955524,
|
| 149 |
+
514.8914115507108,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
343.48703878955524,
|
| 162 |
+
511.8914115507108,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
343.48703878955524,
|
| 175 |
+
508.8914115507108,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
343.48703878955524,
|
| 188 |
+
505.8914115507108,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
343.48703878955524,
|
| 201 |
+
502.8914115507108,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
344.0,
|
| 215 |
+
484.0,
|
| 216 |
+
-1.13109
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-42-30_446340713/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
388.55443869456,
|
| 6 |
+
441.70641723577916,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
388.55443869456,
|
| 19 |
+
444.70641723577916,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
388.55443869456,
|
| 32 |
+
447.70641723577916,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
388.55443869456,
|
| 45 |
+
450.70641723577916,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
388.55443869456,
|
| 58 |
+
453.70641723577916,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "turn left",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
388.55443869456,
|
| 71 |
+
453.70641723577916,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "turn left",
|
| 75 |
+
"value": 30,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
388.55443869456,
|
| 84 |
+
453.70641723577916,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.617993877991494
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
385.9563624832067,
|
| 97 |
+
455.20641723577916,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
383.3582862718534,
|
| 110 |
+
456.70641723577916,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
380.76021006050007,
|
| 123 |
+
458.20641723577916,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779914944
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
378.16213384914676,
|
| 136 |
+
459.70641723577916,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779914944
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
375.56405763779344,
|
| 149 |
+
461.20641723577916,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 2.6179938779914944
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
375.56405763779344,
|
| 162 |
+
461.20641723577916,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
372.56405763779344,
|
| 175 |
+
461.20641723577916,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
369.56405763779344,
|
| 188 |
+
461.20641723577916,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
344.0,
|
| 202 |
+
484.0,
|
| 203 |
+
-1.13109
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "right",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-42-52_915256190/pose.jsonl
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1398.9952154788352,
|
| 6 |
+
536.5371392700043,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1401.9952154788352,
|
| 19 |
+
536.5371392700043,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1404.9952154788352,
|
| 32 |
+
536.5371392700043,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1407.9952154788352,
|
| 45 |
+
536.5371392700043,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1410.9952154788352,
|
| 58 |
+
536.5371392700043,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1413.9952154788352,
|
| 71 |
+
536.5371392700043,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1416.9952154788352,
|
| 84 |
+
536.5371392700043,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "stop",
|
| 88 |
+
"value": 0,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"aim_landmark": {
|
| 94 |
+
"color": "test",
|
| 95 |
+
"feature": "test",
|
| 96 |
+
"position": [
|
| 97 |
+
1460.0,
|
| 98 |
+
540.0,
|
| 99 |
+
-27.3055
|
| 100 |
+
],
|
| 101 |
+
"shape": "test",
|
| 102 |
+
"dir": "center",
|
| 103 |
+
"size": "test",
|
| 104 |
+
"type": "building"
|
| 105 |
+
}
|
| 106 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-47-27_1520223205/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1270.66375108453,
|
| 6 |
+
-31.81760009691303,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1268.0656748731767,
|
| 19 |
+
-30.31760009691303,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1265.4675986618233,
|
| 32 |
+
-28.81760009691303,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1262.86952245047,
|
| 45 |
+
-27.31760009691303,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1262.86952245047,
|
| 58 |
+
-27.31760009691303,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.1415926535898024
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1259.86952245047,
|
| 71 |
+
-27.31760009691303,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1256.86952245047,
|
| 84 |
+
-27.31760009691303,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1253.86952245047,
|
| 97 |
+
-27.31760009691303,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1253.86952245047,
|
| 110 |
+
-27.31760009691303,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1251.2714462391166,
|
| 123 |
+
-25.81760009691303,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1248.6733700277632,
|
| 136 |
+
-24.31760009691303,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1246.0752938164098,
|
| 149 |
+
-22.81760009691303,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1243.4772176050565,
|
| 162 |
+
-21.31760009691303,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1240.879141393703,
|
| 175 |
+
-19.81760009691303,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1238.2810651823497,
|
| 188 |
+
-18.31760009691303,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1235.6829889709963,
|
| 201 |
+
-16.81760009691303,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1233.084912759643,
|
| 214 |
+
-15.31760009691303,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1230.4868365482896,
|
| 227 |
+
-13.81760009691303,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": 2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
1204.0,
|
| 241 |
+
-4.0,
|
| 242 |
+
-29.537
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-52-24_777210498/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
190.45657111879086,
|
| 6 |
+
67.58517933583614,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
188.95657111879086,
|
| 19 |
+
64.98710312448283,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
187.45657111879086,
|
| 32 |
+
62.38902691312951,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
185.95657111879086,
|
| 45 |
+
59.7909507017762,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
184.45657111879086,
|
| 58 |
+
57.19287449042288,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
182.95657111879086,
|
| 71 |
+
54.594798279069565,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
181.45657111879086,
|
| 84 |
+
51.99672206771625,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
179.95657111879086,
|
| 97 |
+
49.39864585636293,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
178.45657111879086,
|
| 110 |
+
46.80056964500962,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
176.95657111879086,
|
| 123 |
+
44.2024934336563,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
175.45657111879086,
|
| 136 |
+
41.604417222302985,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
173.95657111879086,
|
| 149 |
+
39.00634101094967,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
172.45657111879086,
|
| 162 |
+
36.40826479959635,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
170.95657111879086,
|
| 175 |
+
33.81018858824304,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
169.45657111879086,
|
| 188 |
+
31.21211237688972,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
167.95657111879086,
|
| 201 |
+
28.614036165536405,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "turn right",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
167.95657111879086,
|
| 214 |
+
28.614036165536405,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.617993877991494
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
165.35849490743755,
|
| 227 |
+
27.114036165536405,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779914944
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
162.76041869608423,
|
| 240 |
+
25.614036165536405,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779914944
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
160.1623424847309,
|
| 253 |
+
24.114036165536405,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779914944
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
157.5642662733776,
|
| 266 |
+
22.614036165536405,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779914944
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
154.96619006202428,
|
| 279 |
+
21.114036165536405,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779914944
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
152.36811385067097,
|
| 292 |
+
19.614036165536405,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": -2.6179938779914944
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
136.0,
|
| 306 |
+
0.0,
|
| 307 |
+
-30.6686
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-53-24_364686248/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1798.8753051516335,
|
| 6 |
+
57.74451219190015,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1797.3753051516335,
|
| 19 |
+
55.14643598054683,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1795.8753051516335,
|
| 32 |
+
52.54835976919352,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1794.3753051516335,
|
| 45 |
+
49.9502835578402,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1792.8753051516335,
|
| 58 |
+
47.352207346486885,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1791.3753051516335,
|
| 71 |
+
44.75413113513357,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1789.8753051516335,
|
| 84 |
+
42.15605492378025,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1788.3753051516335,
|
| 97 |
+
39.55797871242694,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1786.8753051516335,
|
| 110 |
+
36.95990250107362,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1785.3753051516335,
|
| 123 |
+
34.361826289720305,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1783.8753051516335,
|
| 136 |
+
31.76375007836699,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1782.3753051516335,
|
| 149 |
+
29.165673867013673,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1780.8753051516335,
|
| 162 |
+
26.567597655660357,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "turn right",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1780.8753051516335,
|
| 175 |
+
26.567597655660357,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.617993877991494
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1778.27722894028,
|
| 188 |
+
25.067597655660357,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1775.6791527289267,
|
| 201 |
+
23.567597655660357,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
1760.0,
|
| 215 |
+
4.0,
|
| 216 |
+
-29.1778
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_18-6-33_1987231011/pose.jsonl
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
879.2176461774468,
|
| 6 |
+
-106.77216532581808,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
880.7176461774468,
|
| 19 |
+
-104.17408911446476,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
882.2176461774468,
|
| 32 |
+
-101.57601290311145,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
883.7176461774468,
|
| 45 |
+
-98.97793669175813,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
885.2176461774468,
|
| 58 |
+
-96.37986048040482,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "stop",
|
| 62 |
+
"value": 0,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"aim_landmark": {
|
| 68 |
+
"color": "test",
|
| 69 |
+
"feature": "test",
|
| 70 |
+
"position": [
|
| 71 |
+
928.0,
|
| 72 |
+
-32.0,
|
| 73 |
+
19.9495
|
| 74 |
+
],
|
| 75 |
+
"shape": "test",
|
| 76 |
+
"dir": "center",
|
| 77 |
+
"size": "test",
|
| 78 |
+
"type": "building"
|
| 79 |
+
}
|
| 80 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-13-34_410409117/pose.jsonl
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1540.0910531447962,
|
| 6 |
+
102.62223694121747,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1538.5910531447962,
|
| 19 |
+
105.22031315257078,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1537.0910531447962,
|
| 32 |
+
107.8183893639241,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1535.5910531447962,
|
| 45 |
+
110.41646557527741,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1534.0910531447962,
|
| 58 |
+
113.01454178663073,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1532.5910531447962,
|
| 71 |
+
115.61261799798405,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1531.0910531447962,
|
| 84 |
+
118.21069420933736,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1529.5910531447962,
|
| 97 |
+
120.80877042069068,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1528.0910531447962,
|
| 110 |
+
123.406846632044,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1528.0910531447962,
|
| 123 |
+
123.406846632044,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1528.0910531447962,
|
| 136 |
+
126.406846632044,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1528.0910531447962,
|
| 149 |
+
129.406846632044,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1528.0910531447962,
|
| 162 |
+
132.406846632044,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1528.0910531447962,
|
| 175 |
+
135.406846632044,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1528.0910531447962,
|
| 188 |
+
138.406846632044,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1528.0910531447962,
|
| 201 |
+
141.406846632044,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1528.0910531447962,
|
| 214 |
+
144.406846632044,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1528.0910531447962,
|
| 227 |
+
147.406846632044,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1528.0910531447962,
|
| 240 |
+
150.406846632044,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "turn left",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1528.0910531447962,
|
| 253 |
+
150.406846632044,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1526.5910531447962,
|
| 266 |
+
153.0049228433973,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.0943951023931953
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1525.0910531447962,
|
| 279 |
+
155.60299905475063,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "stop",
|
| 283 |
+
"value": 0,
|
| 284 |
+
"yaw": 2.0943951023931953
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
1516.0,
|
| 293 |
+
180.0,
|
| 294 |
+
-29.3652
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"dir": "center",
|
| 298 |
+
"size": "test",
|
| 299 |
+
"type": "building"
|
| 300 |
+
}
|
| 301 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-22-38_1243439214/pose.jsonl
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
877.4081854106723,
|
| 6 |
+
51.89079063563915,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
880.4081854106723,
|
| 19 |
+
51.89079063563915,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
883.4081854106723,
|
| 32 |
+
51.89079063563915,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
886.4081854106723,
|
| 45 |
+
51.89079063563915,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
889.4081854106723,
|
| 58 |
+
51.89079063563915,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "stop",
|
| 62 |
+
"value": 0,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"aim_landmark": {
|
| 68 |
+
"color": "test",
|
| 69 |
+
"feature": "test",
|
| 70 |
+
"position": [
|
| 71 |
+
948.0,
|
| 72 |
+
44.0,
|
| 73 |
+
-29.3651
|
| 74 |
+
],
|
| 75 |
+
"shape": "test",
|
| 76 |
+
"dir": "center",
|
| 77 |
+
"size": "test",
|
| 78 |
+
"type": "building"
|
| 79 |
+
}
|
| 80 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-25-29_1369356620/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
638.6609604988212,
|
| 6 |
+
1127.1952437827395,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
641.6609604988212,
|
| 19 |
+
1127.1952437827395,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
644.6609604988212,
|
| 32 |
+
1127.1952437827395,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
647.6609604988212,
|
| 45 |
+
1127.1952437827395,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
650.6609604988212,
|
| 58 |
+
1127.1952437827395,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
650.6609604988212,
|
| 71 |
+
1127.1952437827395,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "turn right",
|
| 75 |
+
"value": 30,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
650.6609604988212,
|
| 84 |
+
1127.1952437827395,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511965976
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
652.1609604988212,
|
| 97 |
+
1124.597167571386,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
653.6609604988212,
|
| 110 |
+
1121.9990913600327,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
653.6609604988212,
|
| 123 |
+
1121.9990913600327,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755983084
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
656.2590367101745,
|
| 136 |
+
1120.4990913600327,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
658.8571129215279,
|
| 149 |
+
1118.9990913600327,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
661.4551891328813,
|
| 162 |
+
1117.4990913600327,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
664.0532653442347,
|
| 175 |
+
1115.9990913600327,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
666.651341555588,
|
| 188 |
+
1114.4990913600327,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
669.2494177669414,
|
| 201 |
+
1112.9990913600327,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
671.8474939782948,
|
| 214 |
+
1111.4990913600327,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
674.4455701896482,
|
| 227 |
+
1109.9990913600327,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "turn left",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
674.4455701896482,
|
| 240 |
+
1109.9990913600327,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 9.43689570931383e-15
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
677.4455701896482,
|
| 253 |
+
1109.9990913600327,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": 9.43689570931383e-15
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
696.0,
|
| 267 |
+
1104.0,
|
| 268 |
+
-29.9978
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "center",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-34-9_983631233/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1354.5815977737032,
|
| 6 |
+
199.44794502455403,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1356.0815977737032,
|
| 19 |
+
202.04602123590735,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1357.5815977737032,
|
| 32 |
+
204.64409744726066,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1359.0815977737032,
|
| 45 |
+
207.24217365861398,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1360.5815977737032,
|
| 58 |
+
209.8402498699673,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1362.0815977737032,
|
| 71 |
+
212.4383260813206,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1363.5815977737032,
|
| 84 |
+
215.03640229267393,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1365.0815977737032,
|
| 97 |
+
217.63447850402724,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1366.5815977737032,
|
| 110 |
+
220.23255471538056,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1368.0815977737032,
|
| 123 |
+
222.83063092673387,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1369.5815977737032,
|
| 136 |
+
225.4287071380872,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1371.0815977737032,
|
| 149 |
+
228.0267833494405,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1372.5815977737032,
|
| 162 |
+
230.62485956079382,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1374.0815977737032,
|
| 175 |
+
233.22293577214714,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1375.5815977737032,
|
| 188 |
+
235.82101198350045,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1377.0815977737032,
|
| 201 |
+
238.41908819485377,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1378.5815977737032,
|
| 214 |
+
241.0171644062071,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1380.0815977737032,
|
| 227 |
+
243.6152406175604,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1381.5815977737032,
|
| 240 |
+
246.21331682891372,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1383.0815977737032,
|
| 253 |
+
248.81139304026703,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1384.5815977737032,
|
| 266 |
+
251.40946925162035,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1386.0815977737032,
|
| 279 |
+
254.00754546297367,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1387.5815977737032,
|
| 292 |
+
256.605621674327,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": 1.0471975511965979
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
1400.0,
|
| 306 |
+
284.0,
|
| 307 |
+
-0.375381
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-36-14_1204275569/pose.jsonl
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1348.556744066376,
|
| 6 |
+
737.6827482840608,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1347.056744066376,
|
| 19 |
+
735.0846720727075,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1345.556744066376,
|
| 32 |
+
732.4865958613541,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1344.056744066376,
|
| 45 |
+
729.8885196500007,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1342.556744066376,
|
| 58 |
+
727.2904434386473,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1341.056744066376,
|
| 71 |
+
724.692367227294,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1339.556744066376,
|
| 84 |
+
722.0942910159406,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1338.056744066376,
|
| 97 |
+
719.4962148045872,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1336.556744066376,
|
| 110 |
+
716.8981385932339,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": -2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1336.556744066376,
|
| 123 |
+
716.8981385932339,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779914846
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1333.9586678550227,
|
| 136 |
+
715.3981385932339,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1331.3605916436693,
|
| 149 |
+
713.8981385932339,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "stop",
|
| 153 |
+
"value": 0,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"aim_landmark": {
|
| 159 |
+
"color": "test",
|
| 160 |
+
"feature": "test",
|
| 161 |
+
"position": [
|
| 162 |
+
1304.0,
|
| 163 |
+
676.0,
|
| 164 |
+
-29.4592
|
| 165 |
+
],
|
| 166 |
+
"shape": "test",
|
| 167 |
+
"dir": "center",
|
| 168 |
+
"size": "test",
|
| 169 |
+
"type": "building"
|
| 170 |
+
}
|
| 171 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-43-38_1707746139/pose.jsonl
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1867.8958108653803,
|
| 6 |
+
-149.16012303207128,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1867.8958108653803,
|
| 19 |
+
-146.16012303207128,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1867.8958108653803,
|
| 32 |
+
-143.16012303207128,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1867.8958108653803,
|
| 45 |
+
-140.16012303207128,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1867.8958108653803,
|
| 58 |
+
-137.16012303207128,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1867.8958108653803,
|
| 71 |
+
-134.16012303207128,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1867.8958108653803,
|
| 84 |
+
-131.16012303207128,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1867.8958108653803,
|
| 97 |
+
-128.16012303207128,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1867.8958108653803,
|
| 110 |
+
-125.16012303207128,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1867.8958108653803,
|
| 123 |
+
-122.16012303207128,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1867.8958108653803,
|
| 136 |
+
-119.16012303207128,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1867.8958108653803,
|
| 149 |
+
-116.16012303207128,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1867.8958108653803,
|
| 162 |
+
-113.16012303207128,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1867.8958108653803,
|
| 175 |
+
-110.16012303207128,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1867.8958108653803,
|
| 188 |
+
-107.16012303207128,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1867.8958108653803,
|
| 201 |
+
-104.16012303207128,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1867.8958108653803,
|
| 214 |
+
-101.16012303207128,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1867.8958108653803,
|
| 227 |
+
-98.16012303207128,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1867.8958108653803,
|
| 240 |
+
-95.16012303207128,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "turn right",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1867.8958108653803,
|
| 253 |
+
-95.16012303207128,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1869.3958108653803,
|
| 266 |
+
-92.56204682071797,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1870.8958108653803,
|
| 279 |
+
-89.96397060936465,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "stop",
|
| 283 |
+
"value": 0,
|
| 284 |
+
"yaw": 1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
1876.0,
|
| 293 |
+
-64.0,
|
| 294 |
+
31.2239
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"dir": "center",
|
| 298 |
+
"size": "test",
|
| 299 |
+
"type": "building"
|
| 300 |
+
}
|
| 301 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-48-18_378469911/pose.jsonl
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
849.292649632086,
|
| 6 |
+
129.31853235185218,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
849.292649632086,
|
| 19 |
+
126.31853235185218,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
849.292649632086,
|
| 32 |
+
123.31853235185218,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
849.292649632086,
|
| 45 |
+
120.31853235185218,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
849.292649632086,
|
| 58 |
+
117.31853235185218,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
849.292649632086,
|
| 71 |
+
114.31853235185218,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
849.292649632086,
|
| 84 |
+
111.31853235185218,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
849.292649632086,
|
| 97 |
+
108.31853235185218,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
849.292649632086,
|
| 110 |
+
105.31853235185218,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
849.292649632086,
|
| 123 |
+
105.31853235185218,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
850.792649632086,
|
| 136 |
+
102.72045614049887,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
852.292649632086,
|
| 149 |
+
100.12237992914555,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": -1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
852.292649632086,
|
| 162 |
+
100.12237992914555,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.523598775598299
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
854.8907258434392,
|
| 175 |
+
98.62237992914555,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "turn right",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -0.5235987755983084
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
854.8907258434392,
|
| 188 |
+
98.62237992914555,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
854.8907258434392,
|
| 201 |
+
98.62237992914555,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267949059
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
854.8907258434392,
|
| 214 |
+
95.62237992914555,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
854.8907258434392,
|
| 227 |
+
92.62237992914555,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
854.8907258434392,
|
| 240 |
+
89.62237992914555,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
854.8907258434392,
|
| 253 |
+
86.62237992914555,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
854.8907258434392,
|
| 266 |
+
83.62237992914555,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
854.8907258434392,
|
| 279 |
+
80.62237992914555,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
854.8907258434392,
|
| 292 |
+
77.62237992914555,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
854.8907258434392,
|
| 305 |
+
74.62237992914555,
|
| 306 |
+
-36.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
854.8907258434392,
|
| 318 |
+
71.62237992914555,
|
| 319 |
+
-36.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
854.8907258434392,
|
| 331 |
+
68.62237992914555,
|
| 332 |
+
-36.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "turn right",
|
| 335 |
+
"value": 30,
|
| 336 |
+
"yaw": -1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
854.8907258434392,
|
| 344 |
+
68.62237992914555,
|
| 345 |
+
-36.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.0943951023931953
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
853.3907258434392,
|
| 357 |
+
66.02430371779224,
|
| 358 |
+
-36.25378652273585
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.0943951023931953
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
851.8907258434392,
|
| 370 |
+
63.42622750643892,
|
| 371 |
+
-36.25378652273585
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": -2.0943951023931953
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"aim_landmark": {
|
| 380 |
+
"color": "test",
|
| 381 |
+
"feature": "test",
|
| 382 |
+
"position": [
|
| 383 |
+
852.0,
|
| 384 |
+
44.0,
|
| 385 |
+
-27.417
|
| 386 |
+
],
|
| 387 |
+
"shape": "test",
|
| 388 |
+
"dir": "left",
|
| 389 |
+
"size": "test",
|
| 390 |
+
"type": "building"
|
| 391 |
+
}
|
| 392 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-51-51_629593614/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1846.3380662789036,
|
| 6 |
+
788.8428786308134,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1849.3380662789036,
|
| 19 |
+
788.8428786308134,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1852.3380662789036,
|
| 32 |
+
788.8428786308134,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1855.3380662789036,
|
| 45 |
+
788.8428786308134,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1858.3380662789036,
|
| 58 |
+
788.8428786308134,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1861.3380662789036,
|
| 71 |
+
788.8428786308134,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1864.3380662789036,
|
| 84 |
+
788.8428786308134,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1867.3380662789036,
|
| 97 |
+
788.8428786308134,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1870.3380662789036,
|
| 110 |
+
788.8428786308134,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1870.3380662789036,
|
| 123 |
+
788.8428786308134,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1872.936142490257,
|
| 136 |
+
790.3428786308134,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1875.5342187016104,
|
| 149 |
+
791.8428786308134,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1878.1322949129637,
|
| 162 |
+
793.3428786308134,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1880.7303711243171,
|
| 175 |
+
794.8428786308134,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1883.3284473356705,
|
| 188 |
+
796.3428786308134,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1885.9265235470239,
|
| 201 |
+
797.8428786308134,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
1936.0,
|
| 215 |
+
812.0,
|
| 216 |
+
160.906
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-55-59_1909850543/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-106.44562994038245,
|
| 6 |
+
-125.30446601393774,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-104.94562994038245,
|
| 19 |
+
-127.90254222529106,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-103.44562994038245,
|
| 32 |
+
-130.50061843664437,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-101.94562994038245,
|
| 45 |
+
-133.0986946479977,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-100.44562994038245,
|
| 58 |
+
-135.696770859351,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-98.94562994038245,
|
| 71 |
+
-138.29484707070432,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-97.44562994038245,
|
| 84 |
+
-140.89292328205764,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-95.94562994038245,
|
| 97 |
+
-143.49099949341095,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-94.44562994038245,
|
| 110 |
+
-146.08907570476427,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-92.94562994038245,
|
| 123 |
+
-148.68715191611759,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-91.44562994038245,
|
| 136 |
+
-151.2852281274709,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-89.94562994038245,
|
| 149 |
+
-153.88330433882422,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-88.44562994038245,
|
| 162 |
+
-156.48138055017753,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-86.94562994038245,
|
| 175 |
+
-159.07945676153085,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-85.44562994038245,
|
| 188 |
+
-161.67753297288417,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-83.94562994038245,
|
| 201 |
+
-164.27560918423748,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-83.94562994038245,
|
| 214 |
+
-164.27560918423748,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.523598775598299
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-81.34755372902913,
|
| 227 |
+
-165.77560918423748,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -0.523598775598299
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
-68.0,
|
| 241 |
+
-184.0,
|
| 242 |
+
-11.2284
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-58-38_406011017/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
374.23335719776486,
|
| 6 |
+
-72.96935521399848,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
371.23335719776486,
|
| 19 |
+
-72.96935521399848,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
368.23335719776486,
|
| 32 |
+
-72.96935521399848,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
365.23335719776486,
|
| 45 |
+
-72.96935521399848,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
362.23335719776486,
|
| 58 |
+
-72.96935521399848,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
359.23335719776486,
|
| 71 |
+
-72.96935521399848,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
356.23335719776486,
|
| 84 |
+
-72.96935521399848,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
353.23335719776486,
|
| 97 |
+
-72.96935521399848,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
353.23335719776486,
|
| 110 |
+
-72.96935521399848,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
350.63528098641154,
|
| 123 |
+
-71.46935521399848,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779914944
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
348.0372047750582,
|
| 136 |
+
-69.96935521399848,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779914944
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
345.4391285637049,
|
| 149 |
+
-68.46935521399848,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.6179938779914944
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
342.8410523523516,
|
| 162 |
+
-66.96935521399848,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "turn right",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": 2.6179938779914944
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
342.8410523523516,
|
| 175 |
+
-66.96935521399848,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931957
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
341.3410523523516,
|
| 188 |
+
-64.37127900264517,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
339.8410523523516,
|
| 201 |
+
-61.77320279129185,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
338.3410523523516,
|
| 214 |
+
-59.175126579938535,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": 2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
300.0,
|
| 228 |
+
-44.0,
|
| 229 |
+
1.41541
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "left",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-7-0_1455590964/pose.jsonl
ADDED
|
@@ -0,0 +1,132 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1244.7941065274945,
|
| 6 |
+
-37.46217032613677,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1246.2941065274945,
|
| 19 |
+
-34.864094114783455,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1247.7941065274945,
|
| 32 |
+
-32.26601790343014,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1249.2941065274945,
|
| 45 |
+
-29.667941692076823,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1250.7941065274945,
|
| 58 |
+
-27.069865480723507,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1252.2941065274945,
|
| 71 |
+
-24.47178926937019,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1253.7941065274945,
|
| 84 |
+
-21.873713058016875,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1255.2941065274945,
|
| 97 |
+
-19.27563684666356,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1256.7941065274945,
|
| 110 |
+
-16.677560635310243,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "stop",
|
| 114 |
+
"value": 0,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"aim_landmark": {
|
| 120 |
+
"color": "test",
|
| 121 |
+
"feature": "test",
|
| 122 |
+
"position": [
|
| 123 |
+
1292.0,
|
| 124 |
+
28.0,
|
| 125 |
+
0.65896
|
| 126 |
+
],
|
| 127 |
+
"shape": "test",
|
| 128 |
+
"dir": "center",
|
| 129 |
+
"size": "test",
|
| 130 |
+
"type": "building"
|
| 131 |
+
}
|
| 132 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_19-7-50_1472576335/pose.jsonl
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1940.9545986184144,
|
| 6 |
+
607.2432604007963,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1942.4545986184144,
|
| 19 |
+
604.645184189443,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1943.9545986184144,
|
| 32 |
+
602.0471079780896,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1945.4545986184144,
|
| 45 |
+
599.4490317667362,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1946.9545986184144,
|
| 58 |
+
596.8509555553828,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1948.4545986184144,
|
| 71 |
+
594.2528793440295,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1949.9545986184144,
|
| 84 |
+
591.6548031326761,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1951.4545986184144,
|
| 97 |
+
589.0567269213227,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1952.9545986184144,
|
| 110 |
+
586.4586507099693,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1954.4545986184144,
|
| 123 |
+
583.860574498616,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1955.9545986184144,
|
| 136 |
+
581.2624982872626,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1957.4545986184144,
|
| 149 |
+
578.6644220759092,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1958.9545986184144,
|
| 162 |
+
576.0663458645558,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1960.4545986184144,
|
| 175 |
+
573.4682696532025,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1961.9545986184144,
|
| 188 |
+
570.8701934418491,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1963.4545986184144,
|
| 201 |
+
568.2721172304957,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1963.4545986184144,
|
| 214 |
+
568.2721172304957,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755983084
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1966.0526748297677,
|
| 227 |
+
566.7721172304957,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1968.650751041121,
|
| 240 |
+
565.2721172304957,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1971.2488272524745,
|
| 253 |
+
563.7721172304957,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1973.8469034638279,
|
| 266 |
+
562.2721172304957,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1976.4449796751812,
|
| 279 |
+
560.7721172304957,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "stop",
|
| 283 |
+
"value": 0,
|
| 284 |
+
"yaw": -0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
1992.0,
|
| 293 |
+
540.0,
|
| 294 |
+
0.927712
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"dir": "center",
|
| 298 |
+
"size": "test",
|
| 299 |
+
"type": "building"
|
| 300 |
+
}
|
| 301 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-11-27_1312994984/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
574.809007397824,
|
| 6 |
+
374.96598732695816,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
573.309007397824,
|
| 19 |
+
377.5640635383115,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
571.809007397824,
|
| 32 |
+
380.1621397496648,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
570.309007397824,
|
| 45 |
+
382.7602159610181,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
568.809007397824,
|
| 58 |
+
385.3582921723714,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
567.309007397824,
|
| 71 |
+
387.95636838372474,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
565.809007397824,
|
| 84 |
+
390.55444459507805,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
564.309007397824,
|
| 97 |
+
393.15252080643137,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
562.809007397824,
|
| 110 |
+
395.7505970177847,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
561.309007397824,
|
| 123 |
+
398.348673229138,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
559.809007397824,
|
| 136 |
+
400.9467494404913,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "turn left",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
559.809007397824,
|
| 149 |
+
400.9467494404913,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.617993877991494
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
557.2109311864706,
|
| 162 |
+
402.4467494404913,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
554.6128549751172,
|
| 175 |
+
403.9467494404913,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
552.0147787637638,
|
| 188 |
+
405.4467494404913,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
549.4167025524105,
|
| 201 |
+
406.9467494404913,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
546.8186263410571,
|
| 214 |
+
408.4467494404913,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
544.2205501297037,
|
| 227 |
+
409.9467494404913,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
541.6224739183504,
|
| 240 |
+
411.4467494404913,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
539.024397706997,
|
| 253 |
+
412.9467494404913,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": 2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
516.0,
|
| 267 |
+
436.0,
|
| 268 |
+
-30.1696
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "center",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-15-40_1982945082/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
539.4031848222178,
|
| 6 |
+
382.81455043684014,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
542.4031848222178,
|
| 19 |
+
382.81455043684014,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
545.4031848222178,
|
| 32 |
+
382.81455043684014,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
548.4031848222178,
|
| 45 |
+
382.81455043684014,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
551.4031848222178,
|
| 58 |
+
382.81455043684014,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
554.4031848222178,
|
| 71 |
+
382.81455043684014,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
557.4031848222178,
|
| 84 |
+
382.81455043684014,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
560.4031848222178,
|
| 97 |
+
382.81455043684014,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
563.4031848222178,
|
| 110 |
+
382.81455043684014,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
563.4031848222178,
|
| 123 |
+
382.81455043684014,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
566.0012610335712,
|
| 136 |
+
381.31455043684014,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
568.5993372449245,
|
| 149 |
+
379.81455043684014,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
571.1974134562779,
|
| 162 |
+
378.31455043684014,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
573.7954896676313,
|
| 175 |
+
376.81455043684014,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
576.3935658789846,
|
| 188 |
+
375.31455043684014,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
578.991642090338,
|
| 201 |
+
373.81455043684014,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
581.5897183016914,
|
| 214 |
+
372.31455043684014,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
600.0,
|
| 228 |
+
364.0,
|
| 229 |
+
-30.1696
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-23-26_932862806/pose.jsonl
ADDED
|
@@ -0,0 +1,184 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1852.1757400323627,
|
| 6 |
+
721.0446863892132,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1852.1757400323627,
|
| 19 |
+
718.0446863892132,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1852.1757400323627,
|
| 32 |
+
715.0446863892132,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1852.1757400323627,
|
| 45 |
+
712.0446863892132,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1852.1757400323627,
|
| 58 |
+
709.0446863892132,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1852.1757400323627,
|
| 71 |
+
706.0446863892132,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1852.1757400323627,
|
| 84 |
+
703.0446863892132,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1852.1757400323627,
|
| 97 |
+
700.0446863892132,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1852.1757400323627,
|
| 110 |
+
697.0446863892132,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1852.1757400323627,
|
| 123 |
+
694.0446863892132,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1852.1757400323627,
|
| 136 |
+
691.0446863892132,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1852.1757400323627,
|
| 149 |
+
688.0446863892132,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1852.1757400323627,
|
| 162 |
+
685.0446863892132,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "stop",
|
| 166 |
+
"value": 0,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"aim_landmark": {
|
| 172 |
+
"color": "test",
|
| 173 |
+
"feature": "test",
|
| 174 |
+
"position": [
|
| 175 |
+
1848.0,
|
| 176 |
+
652.0,
|
| 177 |
+
1.28007
|
| 178 |
+
],
|
| 179 |
+
"shape": "test",
|
| 180 |
+
"dir": "center",
|
| 181 |
+
"size": "test",
|
| 182 |
+
"type": "building"
|
| 183 |
+
}
|
| 184 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-25-10_245798898/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-103.96675686227825,
|
| 6 |
+
-240.47895534045438,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-102.46675686227825,
|
| 19 |
+
-237.88087912910106,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-100.96675686227825,
|
| 32 |
+
-235.28280291774774,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-99.46675686227825,
|
| 45 |
+
-232.68472670639443,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-97.96675686227825,
|
| 58 |
+
-230.0866504950411,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-96.46675686227825,
|
| 71 |
+
-227.4885742836878,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-94.96675686227825,
|
| 84 |
+
-224.89049807233448,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-93.46675686227825,
|
| 97 |
+
-222.29242186098116,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-91.96675686227825,
|
| 110 |
+
-219.69434564962785,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-90.46675686227825,
|
| 123 |
+
-217.09626943827453,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-88.96675686227825,
|
| 136 |
+
-214.49819322692122,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-87.46675686227825,
|
| 149 |
+
-211.9001170155679,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-85.96675686227825,
|
| 162 |
+
-209.30204080421458,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-84.46675686227825,
|
| 175 |
+
-206.70396459286127,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-82.96675686227825,
|
| 188 |
+
-204.10588838150795,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
-68.0,
|
| 202 |
+
-184.0,
|
| 203 |
+
-11.2284
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "center",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-39-20_298501962/pose.jsonl
ADDED
|
@@ -0,0 +1,353 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1681.639528779445,
|
| 6 |
+
-9.943036774034248,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1680.139528779445,
|
| 19 |
+
-12.541112985387564,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1678.639528779445,
|
| 32 |
+
-15.13918919674088,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1677.139528779445,
|
| 45 |
+
-17.737265408094196,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1675.639528779445,
|
| 58 |
+
-20.33534161944751,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1674.139528779445,
|
| 71 |
+
-22.933417830800828,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1672.639528779445,
|
| 84 |
+
-25.531494042154144,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1671.139528779445,
|
| 97 |
+
-28.12957025350746,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1669.639528779445,
|
| 110 |
+
-30.727646464860776,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1668.139528779445,
|
| 123 |
+
-33.32572267621409,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1666.639528779445,
|
| 136 |
+
-35.92379888756741,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1665.139528779445,
|
| 149 |
+
-38.521875098920724,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "turn right",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1665.139528779445,
|
| 162 |
+
-38.521875098920724,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.617993877991494
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1662.5414525680917,
|
| 175 |
+
-40.021875098920724,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1659.9433763567383,
|
| 188 |
+
-41.521875098920724,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1657.345300145385,
|
| 201 |
+
-43.021875098920724,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1654.7472239340316,
|
| 214 |
+
-44.521875098920724,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1652.1491477226782,
|
| 227 |
+
-46.021875098920724,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1649.5510715113248,
|
| 240 |
+
-47.521875098920724,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1646.9529952999715,
|
| 253 |
+
-49.021875098920724,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1644.354919088618,
|
| 266 |
+
-50.521875098920724,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "turn right",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1644.354919088618,
|
| 279 |
+
-50.521875098920724,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -3.1415926535898024
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1641.354919088618,
|
| 292 |
+
-50.521875098920724,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 3.141592653589793
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1638.354919088618,
|
| 305 |
+
-50.521875098920724,
|
| 306 |
+
-36.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 3.141592653589793
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1635.354919088618,
|
| 318 |
+
-50.521875098920724,
|
| 319 |
+
-36.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 3.141592653589793
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1632.354919088618,
|
| 331 |
+
-50.521875098920724,
|
| 332 |
+
-36.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "stop",
|
| 335 |
+
"value": 0,
|
| 336 |
+
"yaw": 3.141592653589793
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"aim_landmark": {
|
| 341 |
+
"color": "test",
|
| 342 |
+
"feature": "test",
|
| 343 |
+
"position": [
|
| 344 |
+
1612.0,
|
| 345 |
+
-68.0,
|
| 346 |
+
34.3503
|
| 347 |
+
],
|
| 348 |
+
"shape": "test",
|
| 349 |
+
"dir": "left",
|
| 350 |
+
"size": "test",
|
| 351 |
+
"type": "building"
|
| 352 |
+
}
|
| 353 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-42-42_617909211/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
836.0816350364441,
|
| 6 |
+
1136.8116849168841,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
837.5816350364441,
|
| 19 |
+
1134.2136087055308,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
839.0816350364441,
|
| 32 |
+
1131.6155324941774,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
840.5816350364441,
|
| 45 |
+
1129.017456282824,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
842.0816350364441,
|
| 58 |
+
1126.4193800714706,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
843.5816350364441,
|
| 71 |
+
1123.8213038601173,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
845.0816350364441,
|
| 84 |
+
1121.223227648764,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
846.5816350364441,
|
| 97 |
+
1118.6251514374105,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
848.0816350364441,
|
| 110 |
+
1116.0270752260571,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
849.5816350364441,
|
| 123 |
+
1113.4289990147038,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
851.0816350364441,
|
| 136 |
+
1110.8309228033504,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
852.5816350364441,
|
| 149 |
+
1108.232846591997,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
854.0816350364441,
|
| 162 |
+
1105.6347703806437,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
855.5816350364441,
|
| 175 |
+
1103.0366941692903,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
857.0816350364441,
|
| 188 |
+
1100.438617957937,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
857.0816350364441,
|
| 201 |
+
1100.438617957937,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755983084
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
859.6797112477975,
|
| 214 |
+
1098.938617957937,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
862.2777874591509,
|
| 227 |
+
1097.438617957937,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
864.8758636705043,
|
| 240 |
+
1095.938617957937,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
884.0,
|
| 254 |
+
1068.0,
|
| 255 |
+
-29.9978
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-44-33_1204754116/pose.jsonl
ADDED
|
@@ -0,0 +1,457 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
789.3917309325208,
|
| 6 |
+
987.9382539181943,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
787.8917309325208,
|
| 19 |
+
990.5363301295477,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
786.3917309325208,
|
| 32 |
+
993.134406340901,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "turn right",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
786.3917309325208,
|
| 45 |
+
993.134406340901,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948872
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
786.3917309325208,
|
| 58 |
+
996.134406340901,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
786.3917309325208,
|
| 71 |
+
999.134406340901,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
786.3917309325208,
|
| 84 |
+
1002.134406340901,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
786.3917309325208,
|
| 97 |
+
1005.134406340901,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
786.3917309325208,
|
| 110 |
+
1008.134406340901,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
786.3917309325208,
|
| 123 |
+
1011.134406340901,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
786.3917309325208,
|
| 136 |
+
1014.134406340901,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
786.3917309325208,
|
| 149 |
+
1017.134406340901,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
786.3917309325208,
|
| 162 |
+
1020.134406340901,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
786.3917309325208,
|
| 175 |
+
1023.134406340901,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
786.3917309325208,
|
| 188 |
+
1026.134406340901,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
786.3917309325208,
|
| 201 |
+
1026.134406340901,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": 2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
786.3917309325208,
|
| 214 |
+
1026.134406340901,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.617993877991494
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
783.7936547211675,
|
| 227 |
+
1027.634406340901,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.617993877991485
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
781.1955785098141,
|
| 240 |
+
1029.134406340901,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
778.5975022984608,
|
| 253 |
+
1030.634406340901,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
775.9994260871074,
|
| 266 |
+
1032.134406340901,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
773.401349875754,
|
| 279 |
+
1033.634406340901,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
770.8032736644006,
|
| 292 |
+
1035.134406340901,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
768.2051974530473,
|
| 305 |
+
1036.634406340901,
|
| 306 |
+
-36.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
765.6071212416939,
|
| 318 |
+
1038.134406340901,
|
| 319 |
+
-36.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "turn right",
|
| 322 |
+
"value": 30,
|
| 323 |
+
"yaw": 2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
765.6071212416939,
|
| 331 |
+
1038.134406340901,
|
| 332 |
+
-36.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "turn right",
|
| 335 |
+
"value": 30,
|
| 336 |
+
"yaw": 2.094395102393205
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
765.6071212416939,
|
| 344 |
+
1038.134406340901,
|
| 345 |
+
-36.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 1.570796326794906
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
765.6071212416939,
|
| 357 |
+
1041.134406340901,
|
| 358 |
+
-36.25378652273585
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 1.5707963267948966
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
765.6071212416939,
|
| 370 |
+
1044.134406340901,
|
| 371 |
+
-36.25378652273585
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 1.5707963267948966
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
765.6071212416939,
|
| 383 |
+
1047.134406340901,
|
| 384 |
+
-36.25378652273585
|
| 385 |
+
],
|
| 386 |
+
"type": "turn left",
|
| 387 |
+
"value": 30,
|
| 388 |
+
"yaw": 1.5707963267948966
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
765.6071212416939,
|
| 396 |
+
1047.134406340901,
|
| 397 |
+
-36.25378652273585
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 2.0943951023931953
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
764.1071212416939,
|
| 409 |
+
1049.7324825522544,
|
| 410 |
+
-36.25378652273585
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 2.094395102393186
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
762.6071212416939,
|
| 422 |
+
1052.3305587636078,
|
| 423 |
+
-36.25378652273585
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 2.094395102393186
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
761.1071212416939,
|
| 435 |
+
1054.9286349749611,
|
| 436 |
+
-36.25378652273585
|
| 437 |
+
],
|
| 438 |
+
"type": "stop",
|
| 439 |
+
"value": 0,
|
| 440 |
+
"yaw": 2.094395102393186
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"aim_landmark": {
|
| 445 |
+
"color": "test",
|
| 446 |
+
"feature": "test",
|
| 447 |
+
"position": [
|
| 448 |
+
752.0,
|
| 449 |
+
1080.0,
|
| 450 |
+
-30.3064
|
| 451 |
+
],
|
| 452 |
+
"shape": "test",
|
| 453 |
+
"dir": "center",
|
| 454 |
+
"size": "test",
|
| 455 |
+
"type": "building"
|
| 456 |
+
}
|
| 457 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-5-18_746349250/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
830.5701646766972,
|
| 6 |
+
1124.031468322323,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
833.1682408880506,
|
| 19 |
+
1125.531468322323,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
835.766317099404,
|
| 32 |
+
1127.031468322323,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
838.3643933107574,
|
| 45 |
+
1128.531468322323,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
840.9624695221107,
|
| 58 |
+
1130.031468322323,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
843.5605457334641,
|
| 71 |
+
1131.531468322323,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
846.1586219448175,
|
| 84 |
+
1133.031468322323,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
848.7566981561708,
|
| 97 |
+
1134.531468322323,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
851.3547743675242,
|
| 110 |
+
1136.031468322323,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
853.9528505788776,
|
| 123 |
+
1137.531468322323,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
856.550926790231,
|
| 136 |
+
1139.031468322323,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
859.1490030015843,
|
| 149 |
+
1140.531468322323,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
861.7470792129377,
|
| 162 |
+
1142.031468322323,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "turn left",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
861.7470792129377,
|
| 175 |
+
1142.031468322323,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.047197551196588
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
863.2470792129377,
|
| 188 |
+
1144.6295445336764,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
864.7470792129377,
|
| 201 |
+
1147.2276207450298,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": 1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
884.0,
|
| 215 |
+
1160.0,
|
| 216 |
+
-30.1697
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-50-41_223712350/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1478.6512800613448,
|
| 6 |
+
3.3908561604620644,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1476.0532038499914,
|
| 19 |
+
4.890856160462064,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1473.455127638638,
|
| 32 |
+
6.390856160462064,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1470.8570514272847,
|
| 45 |
+
7.890856160462064,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1468.2589752159313,
|
| 58 |
+
9.390856160462064,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1465.660899004578,
|
| 71 |
+
10.890856160462064,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1463.0628227932245,
|
| 84 |
+
12.390856160462064,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1460.4647465818712,
|
| 97 |
+
13.890856160462064,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1457.8666703705178,
|
| 110 |
+
15.390856160462064,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1455.2685941591644,
|
| 123 |
+
16.890856160462064,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1452.670517947811,
|
| 136 |
+
18.390856160462064,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1450.0724417364577,
|
| 149 |
+
19.890856160462064,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1447.4743655251043,
|
| 162 |
+
21.390856160462064,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1444.876289313751,
|
| 175 |
+
22.890856160462064,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1442.2782131023976,
|
| 188 |
+
24.390856160462064,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1439.6801368910442,
|
| 201 |
+
25.890856160462064,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1437.0820606796908,
|
| 214 |
+
27.390856160462064,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1434.4839844683374,
|
| 227 |
+
28.890856160462064,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1431.885908256984,
|
| 240 |
+
30.390856160462064,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1429.2878320456307,
|
| 253 |
+
31.890856160462064,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1426.6897558342773,
|
| 266 |
+
33.390856160462064,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
1400.0,
|
| 280 |
+
48.0,
|
| 281 |
+
-29.2873
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "center",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_18/astar_data/low_short/2025-1-8_20-52-20_1287726651/pose.jsonl
ADDED
|
@@ -0,0 +1,366 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
171.89099704079516,
|
| 6 |
+
256.84531336577066,
|
| 7 |
+
-36.25378652273585
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
171.89099704079516,
|
| 19 |
+
253.84531336577066,
|
| 20 |
+
-36.25378652273585
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
171.89099704079516,
|
| 32 |
+
250.84531336577066,
|
| 33 |
+
-36.25378652273585
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
171.89099704079516,
|
| 45 |
+
247.84531336577066,
|
| 46 |
+
-36.25378652273585
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
171.89099704079516,
|
| 58 |
+
244.84531336577066,
|
| 59 |
+
-36.25378652273585
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
171.89099704079516,
|
| 71 |
+
241.84531336577066,
|
| 72 |
+
-36.25378652273585
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
171.89099704079516,
|
| 84 |
+
238.84531336577066,
|
| 85 |
+
-36.25378652273585
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
171.89099704079516,
|
| 97 |
+
235.84531336577066,
|
| 98 |
+
-36.25378652273585
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
171.89099704079516,
|
| 110 |
+
232.84531336577066,
|
| 111 |
+
-36.25378652273585
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
171.89099704079516,
|
| 123 |
+
229.84531336577066,
|
| 124 |
+
-36.25378652273585
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
171.89099704079516,
|
| 136 |
+
226.84531336577066,
|
| 137 |
+
-36.25378652273585
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
171.89099704079516,
|
| 149 |
+
223.84531336577066,
|
| 150 |
+
-36.25378652273585
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
171.89099704079516,
|
| 162 |
+
220.84531336577066,
|
| 163 |
+
-36.25378652273585
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
171.89099704079516,
|
| 175 |
+
217.84531336577066,
|
| 176 |
+
-36.25378652273585
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
171.89099704079516,
|
| 188 |
+
214.84531336577066,
|
| 189 |
+
-36.25378652273585
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
171.89099704079516,
|
| 201 |
+
211.84531336577066,
|
| 202 |
+
-36.25378652273585
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
171.89099704079516,
|
| 214 |
+
211.84531336577066,
|
| 215 |
+
-36.25378652273585
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
173.39099704079516,
|
| 227 |
+
209.24723715441735,
|
| 228 |
+
-36.25378652273585
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
174.89099704079516,
|
| 240 |
+
206.64916094306403,
|
| 241 |
+
-36.25378652273585
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
176.39099704079516,
|
| 253 |
+
204.05108473171072,
|
| 254 |
+
-36.25378652273585
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
177.89099704079516,
|
| 266 |
+
201.4530085203574,
|
| 267 |
+
-36.25378652273585
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
179.39099704079516,
|
| 279 |
+
198.85493230900408,
|
| 280 |
+
-36.25378652273585
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
180.89099704079516,
|
| 292 |
+
196.25685609765077,
|
| 293 |
+
-36.25378652273585
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.0471975511965979
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
182.39099704079516,
|
| 305 |
+
193.65877988629745,
|
| 306 |
+
-36.25378652273585
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.0471975511965979
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
183.89099704079516,
|
| 318 |
+
191.06070367494414,
|
| 319 |
+
-36.25378652273585
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511965979
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
185.39099704079516,
|
| 331 |
+
188.46262746359082,
|
| 332 |
+
-36.25378652273585
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511965979
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
186.89099704079516,
|
| 344 |
+
185.8645512522375,
|
| 345 |
+
-36.25378652273585
|
| 346 |
+
],
|
| 347 |
+
"type": "stop",
|
| 348 |
+
"value": 0,
|
| 349 |
+
"yaw": -1.0471975511965979
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
188.0,
|
| 358 |
+
168.0,
|
| 359 |
+
23.6083
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"dir": "center",
|
| 363 |
+
"size": "test",
|
| 364 |
+
"type": "building"
|
| 365 |
+
}
|
| 366 |
+
}
|